From 8c2505ac2961b44c79cf8ec25c1b15fed6377e1f Mon Sep 17 00:00:00 2001 From: ChrisRosser <41840611+ChrisRosser@users.noreply.github.com> Date: Wed, 17 Jul 2024 10:52:22 +0100 Subject: [PATCH] AOS 65mm Tiny Whoop Tune (#478) * Update aos_65mm_tune.txt 65mm Tiny Whoop Tune * review updates Update aos_65mm_tune.txt * Update presets/4.5/filters/aos_rc/aos_65mm_filters.txt Co-authored-by: Mark Haslinghuis --------- Co-authored-by: Ivan Efimov Co-authored-by: Mark Haslinghuis --- .../4.5/filters/aos_rc/aos_65mm_filters.txt | 37 ++++++ presets/4.5/tune/aos_rc/aos_65mm_tune.txt | 115 ++++++++++++++++++ 2 files changed, 152 insertions(+) create mode 100644 presets/4.5/filters/aos_rc/aos_65mm_filters.txt create mode 100644 presets/4.5/tune/aos_rc/aos_65mm_tune.txt diff --git a/presets/4.5/filters/aos_rc/aos_65mm_filters.txt b/presets/4.5/filters/aos_rc/aos_65mm_filters.txt new file mode 100644 index 000000000..5c3930252 --- /dev/null +++ b/presets/4.5/filters/aos_rc/aos_65mm_filters.txt @@ -0,0 +1,37 @@ +#$ TITLE: AOS 65mm Filters +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: FILTERS +#$ STATUS: EXPERIMENTAL +#$ KEYWORDS: filter, filters, aos, chris, rosser, 65mm, tiny, whoop +#$ AUTHOR: Chris Rosser +#$ DESCRIPTION: Developed for a 65mm Tiny whoop. Based on a 300mAh 1S build with 23000KV Motors. +#$ DESCRIPTION: NOTE this needs bidirectional Dshot support and RPM filtering active to use. DO NOT ATTEMPT TO USE WITH OUT RPM FILTERING! +#$ DESCRIPTION: Follow the usual process of hover testing and safely checking out your tune before using. USE AT YOUR OWN RISK. +#$ DISCUSSION: https://www.aos-rc.com +#$ INCLUDE_WARNING: misc/warnings/en/rpm_filters.txt +#$ INCLUDE: presets/4.5/filters/defaults.txt + +# -- Gyro lowpass filters -- +set gyro_lpf1_dyn_min_hz = 0 +set gyro_lpf1_dyn_max_hz = 0 +set gyro_lpf1_static_hz = 0 +set gyro_lpf2_static_hz = 1000 +set simplified_gyro_filter = OFF + +# -- Gyro Dynamic Notches -- +set dyn_notch_count = 1 +set dyn_notch_q = 500 +set dyn_notch_min_hz = 150 + +# -- RPM filtering -- +set dshot_bidir = ON +set rpm_filter_harmonics = 1 +set rpm_filter_fade_range_hz = 50 +set rpm_filter_min_hz = 100 + +# -- Dterm filtering -- +set dterm_lpf1_dyn_min_hz = 75 +set dterm_lpf1_dyn_max_hz = 150 +set dterm_lpf1_type = PT1 +set dterm_lpf2_static_hz = 150 +set simplified_dterm_filter = ON diff --git a/presets/4.5/tune/aos_rc/aos_65mm_tune.txt b/presets/4.5/tune/aos_rc/aos_65mm_tune.txt new file mode 100644 index 000000000..eabb23f99 --- /dev/null +++ b/presets/4.5/tune/aos_rc/aos_65mm_tune.txt @@ -0,0 +1,115 @@ +#$ TITLE: 65mm Tiny whoop tune by Chris Rosser +#$ FIRMWARE_VERSION: 4.5 +#$ CATEGORY: TUNE +#$ STATUS: EXPERIMENTAL +#$ KEYWORDS: aos, chris, rosser, pid, tune, 65mm, tiny, whoop +#$ AUTHOR: Chris Rosser +#$ DISCUSSION: https://www.aos-rc.com +#$ DESCRIPTION: Custom Tune for a 65mm Tiny whoop. Based on a 300mAh 1S build with 23000KV Motors. +#$ DESCRIPTION: +#$ DESCRIPTION: Master multiplier is set to 1.3 for safety. Increase it carefully to further improve flight performance. +#$ DESCRIPTION: +#$ DESCRIPTION: RPM filtering is MANDATORY! +#$ DESCRIPTION: +#$ DESCRIPTION: Please carefully review the options above and tick any that are relevant. +#$ DESCRIPTION: +#$ DESCRIPTION: Choose your RC link speed. +#$ DESCRIPTION: +#$ FORCE_OPTIONS_REVIEW: TRUE + +#$ INCLUDE: presets/4.5/tune/defaults.txt + +# -- PID values -- +set profile_name = AOS 65mm +set angle_p_gain = 100 +set simplified_master_multiplier = 130 +set simplified_pi_gain = 130 +set simplified_dmax_gain = 0 +set simplified_pitch_pi_gain = 120 +set tpa_mode = PD +set tpa_rate = 55 + +# -- iTerm relax (default)-- +# -- iTerm windup (default)-- +# -- iTerm rotation (off, default) -- + +# -- Dmax -- +set d_max_advance = 0 + +# -- TPA -- + +# -- Feedforward -- +set feedforward_max_rate_limit = 95 + +# -- PIDsum limits (default)-- +# -- Antigravity (default) -- +# -- Absolute control (off, default) -- +# -- Accecleration limits (off, default) -- +# -- Angle and Horizon mode tuning (default) -- +# -- PIDs active below min throttle (default) -- +# -- Set mixer type to default (legacy) -- +# -- Set yaw spin recovery to default, which is auto -- +# -- Set integrated yaw to off, so pitch and yaw are independent (default) -- +# -- Gyro cal on first arm (off, default) -- +# -- Transient throttle limit (off, default) -- +# -- Thrust linear (off, default) -- +# -- Throttle boost (default, 5) +# -- VBat warning threshold -- + +# -- Dynamic idle ON at 10000 rpm -- +set dyn_idle_min_rpm = 100 +set dyn_idle_p_gain = 40 + +# ------ OPIONS GO BELOW THIS LINE ------ + +# -- Filters -- + +#$ OPTION_GROUP BEGIN: Filters + #$ OPTION BEGIN (CHECKED): AOS 65mm Filters (Recommended) + #$ INCLUDE: presets/4.5/filters/aos_rc/aos_65mm_filters.txt + #$ OPTION END + +#$ OPTION_GROUP END + +# -- Fast Rx Link Options -- + +#$ OPTION_GROUP BEGIN: Choose your RC link (or apply another preset separately) + #$ OPTION BEGIN (UNCHECKED): ELRS_250HZ (Recommended) + #$ INCLUDE: presets/4.3/rc_link/elrs_250hz.txt + #$ OPTION END + + #$ OPTION BEGIN (UNCHECKED): ELRS_500HZ + #$ INCLUDE: presets/4.3/rc_link/elrs_500hz.txt + #$ OPTION END + +#$ OPTION_GROUP END + +# -- Recommended options -- + +#$ OPTION_GROUP BEGIN: Check all of these (recommended) + + # -- VBat sag compensation -- + #$ OPTION BEGIN (UNCHECKED): Full battery sag compensation + set vbat_sag_compensation = 100 + set vbat_sag_lpf_period = 2 + #$ OPTION END + + # -- Stick behaviour -- + #$ OPTION BEGIN (UNCHECKED): No stick deadband + set deadband = 0 + set yaw_deadband = 0 + #$ OPTION END + + # -- Startup and arming -- + #$ OPTION BEGIN (UNCHECKED): Arm at any angle + set small_angle = 180 + #$ OPTION END + + # -- Prop direction -- + #$ OPTION BEGIN (UNCHECKED): Props out (check motor direction!) + set yaw_motors_reversed = ON + #$ OPTION END + +#$ OPTION_GROUP END + +simplified_tuning apply \ No newline at end of file